CN108372130B - A kind of target locating, sorting system and its implementation based on FPGA image procossing - Google Patents
A kind of target locating, sorting system and its implementation based on FPGA image procossing Download PDFInfo
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- CN108372130B CN108372130B CN201810228884.4A CN201810228884A CN108372130B CN 108372130 B CN108372130 B CN 108372130B CN 201810228884 A CN201810228884 A CN 201810228884A CN 108372130 B CN108372130 B CN 108372130B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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Abstract
The invention discloses a kind of target locating, sorting system and its implementation based on FPGA image procossing, which includes rack, Delta parallel robot, robot controller, industrial control host, monitor, transparent conveyor belt and target object；The visual pattern processing unit point includes industrial camera, Image Acquisition camera and the FPGA development board being connected with Image Acquisition camera；The robot controller is connect with Delta parallel robot and industrial control host；The industrial control host is connect with monitor, industrial camera and FPGA development board；Image data acquiring is carried out to target object by Image Acquisition camera and is sent to FPGA development board, the FPGA development board carries out the processing of template matching target location algorithm, and processing result is transmitted to industrial control host, while Delta parallel robot completes pickup to moving target object, sorting work according to processing result.The present invention realizes target location algorithm using FPGA, has the characteristics that energy conservation, quick, flexible, accuracy is high.
Description
Technical field
The present invention relates to the positioning of the industrial robot target of view-based access control model to be based on Sorting Technique field more particularly to one kind
The object locating system and its implementation of FPGA image procossing.
Background technique
With the continuous development of robot technology, robot application field is also more and more extensive.It is led currently, applying in sorting
The industrial robot in domain is usually all containing the vision system of complete set.However, usually because of these industrial robot vision's systems
Image processing speed it is too low, and make it that can not adapt to the higher occasion of requirement of real-time.Under normal conditions, sorting machine people
Vision positioning system is both for these condition designs: object to be sorted be placed on the conveyer belt of uniform motion without mobile or
Object to be sorted remains static.When conveyer belt skidding or conveyor belt speed sudden change, nothing can occur for object to be sorted
The variable motion of method prediction, at this moment, sorting machine people tends not to accurately pick up target object.This can reduce its working efficiency,
And seriously affect industrial production.
Currently, the common processor of field of image processing mainly include X86-based computer microprocessor (CPU),
Digital signal processor (DSP), graphics processing unit (GPU) and field programmable gate array (FPGA) device.With digitized map
As technology is to high-resolution, the continuous development of high real-time, big data quantity direction, traditional X86 based on serial process structure
Framework CPU, DSP can no longer meet quick, scan picture algorithm requirement.Though GPU has parallel computation, at assembly line
The ability of data is managed, but by the factors such as its expensive cost, higher power consumption, factory Complete customization, inconvenient for use gradually by quotient
Family eliminates.FPGA not only has an ability of parallel computation, pipeline processes data, and with its low cost, low-power consumption, low delay,
Scene can the characteristic of hardware programming be gradually used widely.Therefore, big for image template matching primitives amount and its algorithm has
There is the characteristics of parallel processing, the present invention selects FPGA to meet as the operation platform of target sorting image procossing to industrial machine
The requirement of people's target sorting real-time.
Summary of the invention
It is an object of the invention to overcome shortcoming and deficiency in the prior art, provide a kind of based on FPGA image procossing
Object localization method and its sorting system realize target positioning based on FPGA visual pattern processing technique, and utilize robot point
Target is picked, energy conservation, feature quickly, flexible, accuracy is high can be reached.
In order to achieve the above object, the present invention adopts the following technical scheme that:
A kind of target locating, sorting system based on FPGA image procossing, comprising: robot part and visual pattern processing
Part；The robot part include rack, Delta parallel robot, robot controller, industrial control host, monitor, thoroughly
Bright conveyer belt and target object；The visual pattern processing unit point including industrial camera, Image Acquisition camera and with figure
As the connected FPGA development board of acquisition camera；The FPGA development board is Field Programmable Gate Array Devices；The robot control
Device processed is connect with Delta parallel robot and industrial control host；The industrial control host and monitor, industrial camera and FPGA
Development board connection；The transparent conveyor belt does transmission transport, top drop target object on the rack；The industrial camera is used
In detection target object location coordinate information in advance, and plan that Delta parallel robot sorts track；Described image acquires camera
Image data acquiring is carried out to the target object for moving to camera site and sends image data to FPGA development board, it is described
FPGA development board carries out the processing of template matching target location algorithm, and the target position information that processing obtains is transmitted to industry control master
Machine, at the same Delta parallel robot according to target object space physics coordinate information complete to the pickup of moving target object, point
Pick work.
The surface of transparent conveyor belt front end is arranged in the industrial camera as a preferred technical solution, and vertically to
Lower shooting；The underface at the middle part of transparent conveyor belt is arranged in described image acquisition camera, and shoots vertically upward.
The target object moves with uniform velocity or variable motion with transparent conveyor belt as a preferred technical solution,.
The FPGA development board includes image acquisition units, SDRAM storage unit, image as a preferred technical solution,
Cache unit, template storage unit, template cache unit, algorithm process unit and coordinates output unit；Described image acquisition
Unit, SDRAM storage unit, image buffer storage unit and algorithm process unit are sequentially connected；The template storage unit, mould
Plate cache unit and algorithm process unit are sequentially connected；The algorithm unit is connect with coordinates output unit；The coordinate is defeated
Unit is connect by serial ports UARTRS232 with the industrial control host out.
Described image acquisition unit acquires phase with described image by Ethernet or USB line as a preferred technical solution,
Machine connection.
The SDRAM storage unit is dynamic RAM as a preferred technical solution, for storing target object
The raw image data at place；Described image cache unit be FPGA development board in resource push-up storage, for from
The image data read out in SDRAM storage unit is cached to m * n matrix size；The template storage unit is FPGA exploitation
Resource block memory in plate, for storing template pixel value；The template cache unit is that resource shift is posted in FPGA development board
Storage, for caching template image data to M × N matrix size；The algorithm process unit uses Verilog HDL language
Carry out template matching algorithm processing.
A kind of implementation method of the target locating, sorting system based on FPGA image procossing, includes the following steps:
S1, system electrification, starting application program, judge whether moving target object enters detection zone, specifically work as industry
When camera can take moving target object completely, whole system is working properly, operates into next step；If system works
It is abnormal, carry out error analysis；
S2, Image Acquisition camera start to acquire target gray image data, and it is fixed to be transmitted to FPGA development board progress target
Position algorithm process, obtains target object location coordinate；
S3, according to step S2 obtain moving target object coordinate position and robot itself encoder feedback position
It sets, obtains the deviation e (k) between target object location and end effector of robot position, further according to the deviation e (k)
End effector of robot position is adjusted；
S4, by step S3 to the adjustment of end effector of robot position after, then its position is fed back, judges machine
Whether device people can complete a grasping movement, if can, target grasping manipulation is carried out, otherwise return step S3.
As a preferred technical solution, in step S1, when system work is abnormal, using response error mechanism, analysis exists
Judge the mistake generated when moving object enters detection zone, and judges whether to need to terminate program based on the analysis results, adjust again
Examination.
The target location algorithm of the step S2 as a preferred technical solution, includes the following steps:
S201, beginning, FPGA development board powers on, system initialization；
S202, image input, including the original image where template image and target object；And it is stored using dynamic random
The target image of device storage input, stores template image using resource block memory in FPGA development board；
S203, image buffer storage, including the original image caching where template image caching and target object；FPGA development board
Interior resource shift register caching is from the template image that block storage is read to specified M × N matrix size；In FPGA development board
Resource push-up storage cache from the original image where the target object that dynamic RAM is read to specified m ×
N matrix size；
S204, template alignment judgement: by observing whether waveform judge templet is aligned, if template image and target object institute
Original image caching after matrix alignment, then enter in next step, where otherwise continuing template cache image and target object
Original image, until alignment；Template to be matched since the original image upper left corner where target object according to from left to right, from
The mode of top to bottm, which successively scans, completes matching process；
S205, template matching calculate: using piecemeal handle, i.e., by template image and target object image row and row between simultaneously
Row processing, the processing of each row of data internal serial；It is completed using LUT Method to target of different shapes in FPGA development board
Object template matching calculates；
S206, to target object template matching of different shapes after the completion of, different target position is obtained simultaneously by parallel processing
Pixel coordinate is set, result is exported；
S207, template matching algorithm terminate to judge: when the external world does not need robot pickup, sort operation, directly will
The power-off of FPGA development board, i.e., algorithm terminates；If not terminating, continue input picture；
S208, algorithm terminate.
As a preferred technical solution, in step S3, between target object location and end effector of robot position
Deviation e (k) size use closed loop PID control, adjustment end effector of robot position make deviation e (k) in allowed band
It is interior；Whenever end effector of robot position of adjustment, robot responsive movement mechanism.
The present invention has the following advantages compared with the existing technology and effect:
(1) present invention takes full advantage of FPGA and is realizing template matching using FPGA as template matching algorithm processor
It is real to can satisfy the sorting of industrial robot target for the concurrency and pipeline characteristics played when handling big data quantity in algorithmic procedure
The requirement of when property.
(2) present invention has the characteristics that low-power consumption, low delay, low cost and field-programmable using FPGA, is entirely being
Resource and cost, easy to use and flexible have been saved in system.
(3) sorting system designed by the present invention is compact-sized, and algorithm process platform can be suitable for different machines and regard
Feel system, strong robustness have huge industrial application value.
Detailed description of the invention
Fig. 1 is robot sorting system structural schematic diagram of the invention；
Fig. 2 is vision system object location data flow graph of the invention；
Fig. 3 is robot sorting system execution flow chart of the invention；
Fig. 4 is template matching algorithm flow chart of the invention；
Fig. 5 (a)-Fig. 5 (b) is template matching algorithm schematic illustration of the invention, and wherein Fig. 5 (a) is template to be matched
301；Fig. 5 (b) is the scanning process of the original image 303 where template 301 to be matched from target object 302.
Specific embodiment
In order to which the purpose of the present invention, technical solution and advantage is more clearly understood, with reference to the accompanying drawings and embodiments,
The present invention is further described in detail.It should be appreciated that described herein, the specific embodiments are only for explaining the present invention,
It is not limited to the present invention.
Embodiment 1
As shown in Figure 1, a kind of target locating, sorting system based on FPGA image procossing, comprising: robot part and view
Feel image processing section；The robot part includes rack 110, Delta parallel robot 102, robot controller
106, industrial control host 105, monitor 104, transparent conveyor belt 107 and target object 108；The visual pattern handles part
Including industrial camera 101, Image Acquisition camera 103 and the FPGA development board 109 being connected with Image Acquisition camera；The machine
Device people control device 106 is connect with Delta parallel robot and industrial control host；The industrial control host 105 and monitor, industrial phase
Machine and the connection of FPGA development board；The transparent conveyor belt 107 does transmission transport, top drop target object on the rack；
The industrial camera plans that Delta parallel robot sorts track for detecting target object location coordinate information in advance；Institute
Image Acquisition camera is stated to carry out image data acquiring to the target object for moving to camera site and send the image data to
FPGA development board, the FPGA development board carry out the processing of template matching target location algorithm, and the target position that processing is obtained
Information is transmitted to industrial control host, while Delta parallel robot is completed according to target object space physics coordinate information to movement
The pickup of target object, sorting work.
In the present embodiment 1, the surface of transparent conveyor belt front end is arranged in the industrial camera, and claps vertically downward
It takes the photograph；The underface at the middle part of transparent conveyor belt is arranged in described image acquisition camera, and shoots vertically upward；
The target object moves with uniform velocity with transparent conveyor belt or variable motion.
As shown in Fig. 2, the FPGA development board described in the present embodiment 1 include image acquisition units, SDRAM storage unit,
Image buffer storage unit, template storage unit, template cache unit, algorithm process unit and coordinates output unit；Described image
Acquisition unit, SDRAM storage unit, image buffer storage unit and algorithm process unit are sequentially connected；The template storage is single
Member, template cache unit and algorithm process unit are sequentially connected；The algorithm unit is connect with coordinates output unit；
The coordinates output unit is connect by serial ports UART RS232 with the industrial control host；
Described image acquisition unit acquires camera with described image by Ethernet or USB line and connect；
The SDRAM storage unit is dynamic RAM, for storing the raw image data where target object；
Described image cache unit is resource push-up storage in FPGA development board, is used for from SDRAM storage unit
In the image data that reads out cache to m * n matrix size；
The template storage unit is resource block memory in FPGA development board, for storing template pixel value；
The template cache unit be FPGA development board in resource shift register, for by template image data cache to
M × N matrix size；
The algorithm process unit carries out template matching algorithm processing using Verilog HDL language.
Embodiment 2
A kind of implementation method of the target locating, sorting system based on FPGA image procossing, includes the following steps:
S1, system electrification, starting application program, the application program includes target location algorithm and work in FPGA development board
The driving of industry camera is opened；Then judge whether moving object enters detection zone, specifically when industrial camera can be shot completely
When to moving target object, whole system is working properly, operates into next step；If system work is abnormal, mistake is carried out
Analysis；
S2, Image Acquisition camera start to acquire target gray image data, and it is fixed to be transmitted to FPGA development board progress target
Position algorithm process, obtains the position coordinates of target object；
S3, according to step S2 obtain moving target object coordinate position and robot itself encoder feedback position
It sets, obtains the deviation e (k) between target object location and end effector of robot position, further according to the deviation e (k)
End effector of robot position is adjusted；
S4, by step S3 to the adjustment of end effector of robot position after, then its position is fed back, judges machine
Whether device people can complete a grasping movement, if can, target grasping manipulation is carried out, otherwise return step S3.
It is illustrated in figure 3 the target location algorithm of invention, is included the following steps:
S201, beginning, FPGA development board powers on, system initialization；
S202, image input, including the original image where template image and target object；And it is stored using dynamic random
The target image of device storage input, stores template image using resource block memory in FPGA development board；
S203, image buffer storage, including the original image caching where template image caching and target object；FPGA development board
Interior resource shift register caching is from the template image that block storage is read to specified M × N matrix size；In FPGA development board
Resource push-up storage cache from the original image where the target object that dynamic RAM is read to specified m ×
N matrix size；
S204, template alignment judgement: by observing whether waveform judge templet is aligned, if template image and target object institute
Original image caching after matrix alignment, then enter in next step, where otherwise continuing template cache image and target object
Original image, until alignment；
S205, template matching calculate: using piecemeal handle, i.e., by template image and target object image row and row between simultaneously
Row processing, the processing of each row of data internal serial；It is completed using LUT Method to target of different shapes in FPGA development board
Object template matching calculates；
S206, to target object template matching of different shapes after the completion of, different target position is obtained simultaneously by parallel processing
Pixel coordinate is set, result is exported；
S207, template matching algorithm terminate to judge: when the external world does not need robot pickup, sort operation, directly will
The power-off of FPGA development board, i.e., algorithm terminates；If not terminating, continue input picture；
S208, algorithm terminate.
In example 2, to Delta parallel robot, industrial camera, Image Acquisition camera, transparent support plate vision mark
After fixed, by FPGA development board, treated that target position pixel coordinate is converted into space physics coordinate, Delta parallel robot root
Pickup, sorting work according to the completion of target object space physics coordinate information to moving target.
It is illustrated in figure 4 robot sorting system execution flow chart, is included the following steps:
Step 501: system electrification starts application program；
Step 502: determining whether moving object enters detection zone, it is therefore an objective to which whether working properly, such as if detecting whole system
Fruit work is abnormal, enters step 503, otherwise enters step 505,509；
Step 503: response error mechanism, the mistake that analytical procedure 502 occurs, as transparent conveyor belt does not move, object
Body cannot fully appear in industrial camera within sweep of the eye etc.；
Step 504: being judged according to step 503 result, if need to terminate program, debug again；
The power-up initializing of step 505:FPGA development board mainly includes that SDRAM memory powers on refreshing and ensures FPGA
System is stablized when normal work；
Step 506: Image Acquisition camera 103 starts to acquire moving target greyscale image data, and image data is passed through
Ethernet or USB line are sent to FPGA and carry out template matching algorithm processing；
Step 507:FPGA carries out template matching algorithm processing, obtains target location coordinate information；
Step 508: the location coordinate information of obtaining step 507；
Step 509: judging whether target object and end effector of robot meet in the pickup point of setting, if phase
It meets, is operated into next step, otherwise, target object continues to run, and this time positioning belongs to the positioning of a failure；
Step 510: the moving target coordinate position and robot itself feedback position of encoder obtained according to step 508
Obtain the deviation e (k) between target object location and end effector of robot position；
Step 511: using closed loop PID control, adjustment robot end holds deviation e (k) size obtained according to step 510
Row device position makes deviation e (k) within the allowable range, and the allowed band needs to do Germicidal efficacy, it is considered that machine
People's end effector accurate can move to right above target object, that is, navigate to target object, be considered as deviation be
In allowed band, otherwise, need to modify parameter and programming code repeatedly；
Step 512: whenever end effector of robot position of adjustment, robot responsive movement mechanism；The movement
Mechanism refers to robot according to the parameter and code modified again programming movement range, constantly to reduce deviation until accurate
It picks up until target object；
Step 513: when deviation e (k) within the allowable range when, feed back an end effector of robot position；
Step 514: under the conditions of step 513, judge whether robot can complete a grasping movement, if can, it carries out
Target grasping movement, otherwise return step 510；
Step 515: after the completion of a grasping movement, returning to initial position；
Step 516: judging whether to terminate entire crawl task, if not terminating, otherwise it is dynamic to terminate crawl for return step 509
Make；
Step 517: ends with system application program.
In the present embodiment 2, if Fig. 5 is template matching algorithm schematic illustration, template 301 to be matched is from target object
303 upper left corner of original image where 302 start by from left to right, from top to bottom in the way of successively scanning complete matching process.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the present invention should subject to the claims.
Claims (3)
1. a kind of implementation method of the target locating, sorting system based on FPGA image procossing, which is characterized in that including following steps
It is rapid:
S1, system electrification, starting application program, judge whether moving target object enters detection zone, specifically work as industrial camera
When can take moving target object completely, whole system is working properly, operates into next step；If system works not just
Often, error analysis is carried out；
S2, Image Acquisition camera start to acquire target gray image data, and are transmitted to FPGA development board and carry out target positioning calculation
Method processing, obtains target object location coordinate；The target location algorithm, includes the following steps:
S201, beginning, FPGA development board powers on, system initialization；
S202, image input, including the original image where template image and target object；And it is deposited using dynamic RAM
The target image for storing up input stores template image using resource block memory in FPGA development board；
S203, image buffer storage, including the original image caching where template image caching and target object；FPGA development board is domestic-investment
Source shift register is cached from the template image that block storage is read to specified M × N matrix size；Resource in FPGA development board
Push-up storage is cached from the original image where the target object that dynamic RAM is read to specified m × n square
Battle array size；
S204, template alignment judgement: by observing whether waveform judge templet is aligned, if where template image and target object
Matrix alignment after original image caching then enters in next step, otherwise continues the original where template cache image and target object
Beginning image, until alignment；Template to be matched since the original image upper left corner where target object according to from left to right, on to
Under mode successively scan complete matching process；
S205, template matching calculate: being handled, i.e., will located parallel between template image and target object image row and row using piecemeal
Reason, the processing of each row of data internal serial；It is completed using LUT Method to target object of different shapes in FPGA development board
Template matching calculates；
S206, to target object template matching of different shapes after the completion of, different target position picture is obtained simultaneously by parallel processing
Plain coordinate exports result；
S207, template matching algorithm terminate to judge: when the external world does not need robot pickup, sort operation, directly opening FPGA
Plate power-off is sent out, i.e., algorithm terminates；If not terminating, continue input picture；
S208, algorithm terminate；
S3, according to step S2 obtain moving target object coordinate position and robot itself encoder feedback position, obtain
Deviation e (k) between target object location and end effector of robot position, further according to the deviation e (k) to machine
People's end effector position is adjusted；
S4, by step S3 to the adjustment of end effector of robot position after, then its position is fed back, judges robot
Whether a grasping movement can be completed, if can, target grasping manipulation is carried out, otherwise return step S3.
2. the implementation method of the target locating, sorting system according to claim 1 based on FPGA image procossing, feature
It is, in step S1, when system work is abnormal, using response error mechanism, analysis is judging that moving object enters detection zone
When the mistake that generates, and judge whether to need to terminate program based on the analysis results, debug again.
3. the implementation method of the target locating, sorting system according to claim 1 based on FPGA image procossing, feature
It is, in step S3, closed loop is used to deviation e (k) size between target object location and end effector of robot position
PID control, adjustment end effector of robot position make deviation e (k) within the allowable range；Whenever robot end of adjustment
Hold actuator position, robot responsive movement mechanism.
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| CN109118529B (en) * | 2018-08-13 | 2022-06-03 | 四川长虹电器股份有限公司 | Screw hole image rapid positioning method based on vision |
| CN110420888A (en) * | 2019-08-09 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of the cooperation robot materials-sorting system and its application method of view-based access control model |
| CN110841927A (en) * | 2019-11-15 | 2020-02-28 | 上海威士顿信息技术股份有限公司 | Sorting device, system and method and electronic equipment |
| CN111028231B (en) * | 2019-12-27 | 2023-06-30 | 易思维（杭州）科技有限公司 | Workpiece position acquisition system based on ARM and FPGA |
| CN112621746A (en) * | 2020-12-02 | 2021-04-09 | 上海交通大学烟台信息技术研究院 | PID control method with dead zone and mechanical arm visual servo grabbing system |
| CN113500017B (en) * | 2021-07-16 | 2023-08-25 | 上海交通大学烟台信息技术研究院 | Intelligent system and method for sorting materials in unstructured scene |
| CN113426710A (en) * | 2021-07-26 | 2021-09-24 | 苏州芒果树数字技术有限公司 | Visual detection control system, sorting system and method, and aiming system and method |
| CN114800508B (en) * | 2022-04-24 | 2022-11-18 | 广东天太机器人有限公司 | Grabbing control system and method of industrial robot |
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| CN100487724C (en) * | 2007-10-08 | 2009-05-13 | 北京科技大学 | Quick target identification and positioning system and method |
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